OpenRaiser/Intern-Atlas huggingface dataset:
Using Taint Analysis and Reinforcement Learning (TARL) to Repair Autonomous Robot Software
Venue: arXiv cs.RO 2020
Year: 2020

It is important to be able to establish formal performance bounds for autonomous systems. However, formal verification techniques require a model of the environment in which the system operates; a challenge for autonomous systems, especially those expected to operate over longer timescales. This paper describes work in progress to automate the monitor and repair of ROS-based autonomous robot software written for an a-priori partially known and possibly incorrect environment model. A taint analysis method is used to automatically extract the data-flow sequence from input topic to publish topic, and instrument that code. A unique reinforcement learning approximation of MDP utility is calculated, an empirical and non-invasive characterization of the inherent objectives of the software designers. By comparing off-line (a-priori) utility with on-line (deployed system) utility, we show, using a small but real ROS example, that it's possible to monitor a performance criterion and relate violations of the criterion to parts of the software. The software is then patched using automated software repair techniques and evaluated against the original off-line utility.
Choose Your Own Question: Encouraging Self-Personalization in Learning Path Construction
Venue: arXiv cs.HC 2020
Year: 2020

Learning Path Recommendation is the heart of adaptive learning, the educational paradigm of an Interactive Educational System (IES) providing a personalized learning experience based on the student's history of learning activities. In typical existing IESs, the student must fully consume a recommended learning item to be provided a new recommendation. This workflow comes with several limitations. For example, there is no opportunity for the student to give feedback on the choice of learning items made by the IES. Furthermore, the mechanism by which the choice is made is opaque to the student, limiting the student's ability to track their learning. To this end, we introduce Rocket, a Tinder-like User Interface for a general class of IESs. Rocket provides a visual representation of Artificial Intelligence (AI)-extracted features of learning materials, allowing the student to quickly decide whether the material meets their needs. The student can choose between engaging with the material and receiving a new recommendation by swiping or tapping. Rocket offers the following potential improvements for IES User Interfaces: First, Rocket enhances the explainability of IES recommendations by showing students a visual summary of the meaningful AI-extracted features used in the decision-making process. Second, Rocket enables self-personalization of the learning experience by leveraging the students' knowledge of their own abilities and needs. Finally, Rocket provides students with fine-grained information on their learning path, giving them an avenue to assess their own skills and track their learning progress. We present the source code of Rocket, in which we emphasize the independence and extensibility of each component, and make it publicly available for all purposes.
One-Shot Object Detection without Fine-Tuning
Venue: arXiv cs.CV 2020
Year: 2020

Deep learning has revolutionized object detection thanks to large-scale datasets, but their object categories are still arguably very limited. In this paper, we attempt to enrich such categories by addressing the one-shot object detection problem, where the number of annotated training examples for learning an unseen class is limited to one. We introduce a two-stage model consisting of a first stage Matching-FCOS network and a second stage Structure-Aware Relation Module, the combination of which integrates metric learning with an anchor-free Faster R-CNN-style detection pipeline, eventually eliminating the need to fine-tune on the support images. We also propose novel training strategies that effectively improve detection performance. Extensive quantitative and qualitative evaluations were performed and our method exceeds the state-of-the-art one-shot performance consistently on multiple datasets.
Is an Affine Constraint Needed for Affine Subspace Clustering?
Venue: arXiv cs.LG 2020
Year: 2020

Subspace clustering methods based on expressing each data point as a linear combination of other data points have achieved great success in computer vision applications such as motion segmentation, face and digit clustering. In face clustering, the subspaces are linear and subspace clustering methods can be applied directly. In motion segmentation, the subspaces are affine and an additional affine constraint on the coefficients is often enforced. However, since affine subspaces can always be embedded into linear subspaces of one extra dimension, it is unclear if the affine constraint is really necessary. This paper shows, both theoretically and empirically, that when the dimension of the ambient space is high relative to the sum of the dimensions of the affine subspaces, the affine constraint has a negligible effect on clustering performance. Specifically, our analysis provides conditions that guarantee the correctness of affine subspace clustering methods both with and without the affine constraint, and shows that these conditions are satisfied for high-dimensional data. Underlying our analysis is the notion of affinely independent subspaces, which not only provides geometrically interpretable correctness conditions, but also clarifies the relationships between existing results for affine subspace clustering.
Stochastic Games with Lexicographic Reachability-Safety Objectives
Venue: arXiv cs.GT 2020
Year: 2020

We study turn-based stochastic zero-sum games with lexicographic preferences over reachability and safety objectives. Stochastic games are standard models in control, verification, and synthesis of stochastic reactive systems that exhibit both randomness as well as angelic and demonic non-determinism. Lexicographic order allows to consider multiple objectives with a strict preference order over the satisfaction of the objectives. To the best of our knowledge, stochastic games with lexicographic objectives have not been studied before. We establish determinacy of such games and present strategy and computational complexity results. For strategy complexity, we show that lexicographically optimal strategies exist that are deterministic and memory is only required to remember the already satisfied and violated objectives. For a constant number of objectives, we show that the relevant decision problem is in NP $\cap$ coNP, matching the current known bound for single objectives; and in general the decision problem is PSPACE-hard and can be solved in NEXPTIME $\cap$ coNEXPTIME. We present an algorithm that computes the lexicographically optimal strategies via a reduction to computation of optimal strategies in a sequence of single-objectives games. We have implemented our algorithm and report experimental results on various case studies.
Sherpa: Robust Hyperparameter Optimization for Machine Learning
Venue: arXiv cs.LG 2020
Year: 2020

Sherpa is a hyperparameter optimization library for machine learning models. It is specifically designed for problems with computationally expensive, iterative function evaluations, such as the hyperparameter tuning of deep neural networks. With Sherpa, scientists can quickly optimize hyperparameters using a variety of powerful and interchangeable algorithms. Sherpa can be run on either a single machine or in parallel on a cluster. Finally, an interactive dashboard enables users to view the progress of models as they are trained, cancel trials, and explore which hyperparameter combinations are working best. Sherpa empowers machine learning practitioners by automating the more tedious aspects of model tuning. Its source code and documentation are available at https://github.com/sherpa-ai/sherpa.
TIRAMISU: A Polyhedral Compiler for Dense and Sparse Deep Learning
Venue: arXiv cs.DC 2020
Year: 2020

In this paper, we demonstrate a compiler that can optimize sparse and recurrent neural networks, both of which are currently outside of the scope of existing neural network compilers (sparse neural networks here stand for networks that can be accelerated with sparse tensor algebra techniques). Our demonstration includes a mapping of sparse and recurrent neural networks to the polyhedral model along with an implementation of our approach in TIRAMISU, our state-of-the-art polyhedral compiler. We evaluate our approach on a set of deep learning benchmarks and compare our results with hand-optimized industrial libraries. Our results show that our approach at least matches Intel MKL-DNN and in some cases outperforms it by 5x (on multicore-CPUs).
A Collaborative Filtering Approach for the Automatic Tuning of Compiler Optimisations
Venue: arXiv cs.DC 2020
Year: 2020

Selecting the right compiler optimisations has a severe impact on programs' performance. Still, the available optimisations keep increasing, and their effect depends on the specific program, making the task human intractable. Researchers proposed several techniques to search in the space of compiler optimisations. Some approaches focus on finding better search algorithms, while others try to speed up the search by leveraging previously collected knowledge. The possibility to effectively reuse previous compilation results inspired us toward the investigation of techniques derived from the Recommender Systems field. The proposed approach exploits previously collected knowledge and improves its characterisation over time. Differently from current state-of-the-art solutions, our approach is not based on performance counters but relies on Reaction Matching, an algorithm able to characterise programs looking at how they react to different optimisation sets. The proposed approach has been validated using two widely used benchmark suites, cBench and PolyBench, including 54 different programs. Our solution, on average, extracted 90% of the available performance improvement 10 iterations before current state-of-the-art solutions, which corresponds to 40% fewer compilations and performance tests to perform.
Parallel Programming Models for Heterogeneous Many-Cores : A Survey
Venue: arXiv cs.DC 2020
Year: 2020

Heterogeneous many-cores are now an integral part of modern computing systems ranging from embedding systems to supercomputers. While heterogeneous many-core design offers the potential for energy-efficient high-performance, such potential can only be unlocked if the application programs are suitably parallel and can be made to match the underlying heterogeneous platform. In this article, we provide a comprehensive survey for parallel programming models for heterogeneous many-core architectures and review the compiling techniques of improving programmability and portability. We examine various software optimization techniques for minimizing the communicating overhead between heterogeneous computing devices. We provide a road map for a wide variety of different research areas. We conclude with a discussion on open issues in the area and potential research directions. This article provides both an accessible introduction to the fast-moving area of heterogeneous programming and a detailed bibliography of its main achievements.
Sequential Gallery for Interactive Visual Design Optimization
Venue: arXiv cs.GR 2020
Year: 2020

Visual design tasks often involve tuning many design parameters. For example, color grading of a photograph involves many parameters, some of which non-expert users might be unfamiliar with. We propose a novel user-in-the-loop optimization method that allows users to efficiently find an appropriate parameter set by exploring such a high-dimensional design space through much easier two-dimensional search subtasks. This method, called sequential plane search, is based on Bayesian optimization to keep necessary queries to users as few as possible. To help users respond to plane-search queries, we also propose using a gallery-based interface that provides options in the two-dimensional subspace arranged in an adaptive grid view. We call this interactive framework Sequential Gallery since users sequentially select the best option from the options provided by the interface. Our experiment with synthetic functions shows that our sequential plane search can find satisfactory solutions in fewer iterations than baselines. We also conducted a preliminary user study, results of which suggest that novices can effectively complete search tasks with Sequential Gallery in a photo-enhancement scenario.
Towards On-Chip Bayesian Neuromorphic Learning
Venue: arXiv cs.NE 2020
Year: 2020

If edge devices are to be deployed to critical applications where their decisions could have serious financial, political, or public-health consequences, they will need a way to signal when they are not sure how to react to their environment. For instance, a lost delivery drone could make its way back to a distribution center or contact the client if it is confused about how exactly to make its delivery, rather than taking the action which is "most likely" correct. This issue is compounded for health care or military applications. However, the brain-realistic temporal credit assignment problem neuromorphic computing algorithms have to solve is difficult. The double role weights play in backpropagation-based-learning, dictating how the network reacts to both input and feedback, needs to be decoupled. e-prop 1 is a promising learning algorithm that tackles this with Broadcast Alignment (a technique where network weights are replaced with random weights during feedback) and accumulated local information. We investigate under what conditions the Bayesian loss term can be expressed in a similar fashion, proposing an algorithm that can be computed with only local information as well and which is thus no more difficult to implement on hardware. This algorithm is exhibited on a store-recall problem, which suggests that it can learn good uncertainty on decisions to be made over time.
Continuous Learning in a Single-Incremental-Task Scenario with Spike Features
Venue: arXiv cs.NE 2020
Year: 2020

Deep Neural Networks (DNNs) have two key deficiencies, their dependence on high precision computing and their inability to perform sequential learning, that is, when a DNN is trained on a first task and the same DNN is trained on the next task it forgets the first task. This phenomenon of forgetting previous tasks is also referred to as catastrophic forgetting. On the other hand a mammalian brain outperforms DNNs in terms of energy efficiency and the ability to learn sequentially without catastrophically forgetting. Here, we use bio-inspired Spike Timing Dependent Plasticity (STDP)in the feature extraction layers of the network with instantaneous neurons to extract meaningful features. In the classification sections of the network we use a modified synaptic intelligence that we refer to as cost per synapse metric as a regularizer to immunize the network against catastrophic forgetting in a Single-Incremental-Task scenario (SIT). In this study, we use MNIST handwritten digits dataset that was divided into five sub-tasks.
Evidence Inference 2.0: More Data, Better Models
Venue: arXiv cs.CL 2020
Year: 2020

How do we most effectively treat a disease or condition? Ideally, we could consult a database of evidence gleaned from clinical trials to answer such questions. Unfortunately, no such database exists; clinical trial results are instead disseminated primarily via lengthy natural language articles. Perusing all such articles would be prohibitively time-consuming for healthcare practitioners; they instead tend to depend on manually compiled systematic reviews of medical literature to inform care. NLP may speed this process up, and eventually facilitate immediate consult of published evidence. The Evidence Inference dataset was recently released to facilitate research toward this end. This task entails inferring the comparative performance of two treatments, with respect to a given outcome, from a particular article (describing a clinical trial) and identifying supporting evidence. For instance: Does this article report that chemotherapy performed better than surgery for five-year survival rates of operable cancers? In this paper, we collect additional annotations to expand the Evidence Inference dataset by 25\%, provide stronger baseline models, systematically inspect the errors that these make, and probe dataset quality. We also release an abstract only (as opposed to full-texts) version of the task for rapid model prototyping. The updated corpus, documentation, and code for new baselines and evaluations are available at http://evidence-inference.ebm-nlp.com/.
Distributed K-Backup Placement and Applications to Virtual Memory in Real-World Wireless Networks
Venue: arXiv cs.DC 2020
Year: 2020

The Backup Placement problem in networks in the $\mathcal{CONGEST}$ distributed setting considers a network graph $G = (V,E)$, in which the goal of each vertex $v \in V$ is selecting a neighbor, such that the maximum number of vertices in $V$ that select the same vertex is minimized [Halldorsson et al., 2015]. Previous backup placement algorithms suffer from obliviousness to main factors of real-world heterogeneous wireless network. Specifically, there is no consideration of the nodes memory and storage capacities, and no reference to a case in which nodes have different energy capacity, and thus can leave (or join) the network at any time. These parameters are strongly correlated in wireless networks, as the load on different parts of the network can differ greatly, thus requiring more communication, energy, memory and storage. In order to fit the real-world attributes of wireless networks, this work addresses a generalized version of the original problem, namely $K$-Backup Placement, in which each vertex selects $K$ neighbors, for a positive parameter $K$. Our $K$-Backup Placement algorithm terminates within just one round. In addition we suggest two complementary algorithms which employ $K$-Backup-Placement to obtain efficient virtual memory schemes for wireless networks. The first algorithm divides the memory of each node to many small parts. Each vertex is assigned the memories of a large subset of its neighbors. Thus more memory capacity for more vertices is gained, but with much fragmentation. The second algorithm requires greater round-complexity, but produces larger virtual memory for each vertex without any fragmentation.
Condensed Movies: Story Based Retrieval with Contextual Embeddings
Venue: arXiv cs.CV 2020
Year: 2020

Our objective in this work is long range understanding of the narrative structure of movies. Instead of considering the entire movie, we propose to learn from the `key scenes' of the movie, providing a condensed look at the full storyline. To this end, we make the following three contributions: (i) We create the Condensed Movies Dataset (CMD) consisting of the key scenes from over 3K movies: each key scene is accompanied by a high level semantic description of the scene, character face-tracks, and metadata about the movie. The dataset is scalable, obtained automatically from YouTube, and is freely available for anybody to download and use. It is also an order of magnitude larger than existing movie datasets in the number of movies; (ii) We provide a deep network baseline for text-to-video retrieval on our dataset, combining character, speech and visual cues into a single video embedding; and finally (iii) We demonstrate how the addition of context from other video clips improves retrieval performance.
Cascade Attribute Network: Decomposing Reinforcement Learning Control Policies using Hierarchical Neural Networks
Venue: arXiv cs.RO 2020
Year: 2020

Reinforcement learning methods have been developed to achieve great success in training control policies in various automation tasks. However, a main challenge of the wider application of reinforcement learning in practical automation is that the training process is hard and the pretrained policy networks are hardly reusable in other similar cases. To address this problem, we propose the cascade attribute network (CAN), which utilizes its hierarchical structure to decompose a complicated control policy in terms of the requirement constraints, which we call attributes, encoded in the control tasks. We validated the effectiveness of our proposed method on two robot control scenarios with various add-on attributes. For some control tasks with more than one add-on attribute attribute, by directly assembling the attribute modules in cascade, the CAN can provide ideal control policies in a zero-shot manner.
Attentional Bottleneck: Towards an Interpretable Deep Driving Network
Venue: arXiv cs.CV 2020
Year: 2020

Deep neural networks are a key component of behavior prediction and motion generation for self-driving cars. One of their main drawbacks is a lack of transparency: they should provide easy to interpret rationales for what triggers certain behaviors. We propose an architecture called Attentional Bottleneck with the goal of improving transparency. Our key idea is to combine visual attention, which identifies what aspects of the input the model is using, with an information bottleneck that enables the model to only use aspects of the input which are important. This not only provides sparse and interpretable attention maps (e.g. focusing only on specific vehicles in the scene), but it adds this transparency at no cost to model accuracy. In fact, we find slight improvements in accuracy when applying Attentional Bottleneck to the ChauffeurNet model, whereas we find that the accuracy deteriorates with a traditional visual attention model.
Benchmarking High Bandwidth Memory on FPGAs
Venue: arXiv cs.AR 2020
Year: 2020

FPGAs are starting to be enhanced with High Bandwidth Memory (HBM) as a way to reduce the memory bandwidth bottleneck encountered in some applications and to give the FPGA more capacity to deal with application state. However, the performance characteristics of HBM are still not well specified, especially in the context of FPGAs. In this paper, we bridge the gap between nominal specifications and actual performance by benchmarkingHBM on a state-of-the-art FPGA, i.e., a Xilinx Alveo U280 featuring a two-stack HBM subsystem. To this end, we propose Shuhai, a benchmarking tool that allows us to demystify all the underlying details of HBM on an FPGA. FPGA-based benchmarking should also provide a more accurate picture of HBM than doing so on CPUs/GPUs, since CPUs/GPUs are noisier systems due to their complex control logic and cache hierarchy. Since the memory itself is complex, leveraging custom hardware logic to benchmark inside an FPGA provides more details as well as accurate and deterministic measurements. We observe that 1) HBM is able to provide up to 425GB/s memory bandwidth, and 2) how HBM is used has a significant impact on performance, which in turn demonstrates the importance of unveiling the performance characteristics of HBM so as to select the best approach. As a yardstick, we also applyShuhaito DDR4to show the differences between HBM and DDR4.Shuhai can be easily generalized to other FPGA boards or other generations of memory, e.g., HBM3, and DDR3. We will makeShuhaiopen-source, benefiting the community